CN112130557A - Multi-underwater vehicle tracking control method, terminal and storage medium - Google Patents

Multi-underwater vehicle tracking control method, terminal and storage medium Download PDF

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CN112130557A
CN112130557A CN202010838281.3A CN202010838281A CN112130557A CN 112130557 A CN112130557 A CN 112130557A CN 202010838281 A CN202010838281 A CN 202010838281A CN 112130557 A CN112130557 A CN 112130557A
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underwater vehicle
motion data
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CN112130557B (en
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许斌
寿莹鑫
张爱东
梅涛
李胜全
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Peng Cheng Laboratory
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles

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Abstract

The invention discloses a multi-underwater vehicle tracking control method, a terminal and a storage medium, wherein uncertainty influence factors in the running process of an underwater vehicle are used as preset parameters, the corresponding relation between the preset parameters and the control input quantity and the navigation error of the underwater vehicle is established in advance, and the preset parameters are updated according to the difference between motion data corresponding to the preset parameters and actual motion data, so that the influence of the uncertainty influence factors in the running process of the underwater vehicle is estimated, and the running path of the underwater vehicle is reliably controlled.

Description

Multi-underwater vehicle tracking control method, terminal and storage medium
Technical Field
The invention relates to the technical field of underwater vehicles, in particular to a multi-underwater vehicle tracking control method, a terminal and a storage medium.
Background
In the ocean resource development process, a scene that multiple underwater vehicles cooperate to execute tasks is quite common, in the scene, each underwater vehicle needs to be kept to run according to an expected path, however, factors influencing the path of the underwater vehicles have uncertainty in the underwater running process of the underwater vehicles, the underwater vehicles often have a yawing condition, and in the prior art, uncertainty parameters in the running process of the underwater vehicles are not considered in the path control of the underwater vehicles, and reliable control is difficult to achieve.
Thus, there is a need for improvements and enhancements in the art.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a multi-underwater vehicle tracking control method, a terminal and a storage medium, and aims to solve the problems that uncertainty factors in the driving process are not considered in a multi-underwater vehicle tracking control scheme in the prior art, and reliable control is difficult to realize.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
in a first aspect of the invention, a multi-underwater vehicle tracking control method is provided, the method comprising:
acquiring an expected path of a target underwater vehicle, and acquiring a current navigation error of the target underwater vehicle according to the expected path of the target underwater vehicle and current motion data of the target underwater vehicle;
acquiring a corresponding relation between a control input quantity of the target underwater vehicle, the navigation error and a preset parameter according to a pre-established motion model of the target underwater vehicle, wherein the control input quantity is a control force and a moment of a propulsion system of the target underwater vehicle;
updating the estimated value of the preset parameter according to the motion data corresponding to the estimated value of the preset parameter and the actual motion data;
acquiring the control input quantity according to the updated preset parameter, the navigation error and the corresponding relation;
adjusting the control force and moment of a propulsion system of the target underwater vehicle according to the control input quantity, so that the target underwater vehicle navigates according to the expected path of the target underwater vehicle;
the motion data of the target underwater vehicle comprises first motion data and second motion data, the first motion data are the position and heading of the target underwater vehicle under an earth coordinate system, and the second motion data are surging, swaying and heading speed of the target underwater vehicle under a body coordinate system.
The method for tracking and controlling the underwater vehicles comprises the following steps of:
setting an expected path of a virtual pilot;
and acquiring the expected path of the target underwater vehicle according to the expected path of the virtual pilot and the expected position relation between the target underwater vehicle and the virtual pilot.
The multi-underwater vehicle tracking control method comprises the following steps of:
ηdi(θ)＝ηd(θ)+R[ψd(θ)]li；
wherein ,ηd(θ)＝[-cos(θ),sin(θ),θ]TTheta is the desired path of the virtual pilot, theta is the variation parameter of the desired path, R (psi) is the transformation matrix of the terrestrial coordinate system and the body coordinate system, psidFor the heading, l, of the virtual navigator in the global coordinate systemiAnd the relative position vector of the target underwater vehicle and the virtual pilot is obtained.
The multi-underwater vehicle tracking control method comprises the following steps that the navigation error comprises a position error and a tracking error, and the acquiring of the navigation error of the target underwater vehicle according to the expected path of the target underwater vehicle and the current motion data of the target underwater vehicle comprises the following steps:
respectively acquiring the position error and the tracking error according to a first preset formula and a second preset formula;
the first preset formula is as follows: e.g. of the typei,1＝xi,1-ηdi(θ)；
The second preset formula is as follows:
Figure BDA0002640484220000031
wherein ,ei,1Is the position error, xi,1Is a matrix representation of the first motion data, ηdi(theta) is the desired path of the target underwater vehicle, theta is a variation parameter of the desired path, ei,2For the tracking error, xi,2For the matrix representation of the second motion data, gi,1＝R(ψi)，ψiR (psi) is a conversion matrix of an earth coordinate system and a body coordinate system, K is the heading of the target underwater vehicle under the earth coordinate systemi,1To control the gain parameter, vsA desired velocity of the target underwater vehicle in the form of a desired path of the target underwater vehicle.
The multi-underwater vehicle tracking control method comprises the following steps of:
Figure BDA0002640484220000032
Figure BDA0002640484220000033
wherein ,
Figure BDA0002640484220000034
denotes xi,1Derivative form of (1), xi,1For the matrix representation of the first motion data, gi,1＝R(ψi)，ψiR (psi) is a conversion matrix of the earth coordinate system and the body coordinate system for the heading of the target underwater vehicle under the earth coordinate system,
Figure BDA0002640484220000035
denotes xi,2Derivative form of (1), xi,2A matrix table for the second motion dataShow, fi,2In order to be the preset parameter, the method comprises the following steps of,
Figure BDA0002640484220000037
Figure BDA0002640484220000036
Mifor an inertia matrix containing hydrodynamic additional masses, C (x)i,2) Coriolis centripetal force matrix for hydrodynamically adding masses, D (x)i,2) Is a matrix of damping coefficients, muiIs the control input.
The multi-underwater vehicle tracking control method comprises the following steps of:
representing the preset parameters through weights and basis functions of a neural network, wherein the preset parameters
Figure BDA0002640484220000041
Figure BDA0002640484220000042
Is the weight of the neural network, phiiIs a basis function of the neural network;
updating the weight of the neural network according to a preset self-adaptive updating law of the weight;
the adaptive update law of the weights is as follows:
Figure BDA0002640484220000043
wherein ,
Figure BDA00026404842200000416
in order to estimate the error, the error is estimated,
Figure BDA0002640484220000044
Figure BDA0002640484220000045
for said second motion data, λ, corresponding to an estimated value of said predetermined parameteri、kσ、iIs a constant value ei,2In order for the tracking error to be said,
Figure BDA0002640484220000046
is composed of
Figure BDA0002640484220000047
Derivative form of (a).
The multi-underwater vehicle tracking control method comprises the following steps that the second motion data corresponding to the estimated value of the preset parameter is obtained through the following model:
Figure BDA0002640484220000048
wherein ,
Figure BDA0002640484220000049
is composed of
Figure BDA00026404842200000410
In the form of the derivative of (a),
Figure BDA00026404842200000411
Mifor an inertia matrix containing hydrodynamic additional masses, betaiIs a constant.
The multi-underwater vehicle tracking control method comprises the following steps that the corresponding relation between the control input quantity of the target underwater vehicle, the navigation error and the preset parameters is expressed by the following formula:
Figure BDA00026404842200000412
wherein ,
Figure BDA00026404842200000413
to represent
Figure BDA00026404842200000414
In the form of the derivative of (a),
Figure BDA00026404842200000415
Mifor an inertia matrix containing hydrodynamic additional masses, Ki,2To control the gain parameter.
In a second aspect of the invention, a terminal is provided, which comprises a processor, and a storage medium communicatively connected to the processor, wherein the storage medium is adapted to store a plurality of instructions, and the processor is adapted to call the instructions in the storage medium to execute the steps of implementing the multi-underwater vehicle tracking control method according to any one of the above.
In a third aspect of the present invention, a storage medium is provided that stores one or more programs executable by one or more processors to implement the steps of the method for multi-underwater vehicle tracking control described in any of the above.
Compared with the prior art, the multi-underwater vehicle tracking control method, the terminal and the storage medium are provided, the multi-underwater vehicle tracking control method takes uncertainty influence factors in the running process of an underwater vehicle as preset parameters, the corresponding relation between the preset parameters and the control input quantity and the navigation error of the underwater vehicle is established in advance, the preset parameters are updated according to the difference between motion data corresponding to the preset parameters and actual motion data, the influence of the uncertainty influence factors in the running process of the underwater vehicle is estimated, and the reliable control of the running path of the underwater vehicle is realized.
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FIG. 1 is a flow chart of an embodiment of a multi-underwater vehicle tracking control method provided by the present invention;
fig. 2 is a schematic diagram of a terminal according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
The multi-underwater vehicle tracking control method provided by the invention can be applied to a terminal, the terminal can control the path of the underwater vehicle through the multi-underwater vehicle tracking control method provided by the invention, the terminal can be integrally arranged with the underwater vehicle, for example, the terminal can be a controller of the underwater vehicle, can also be independently arranged and is in communication connection with the underwater vehicle. As shown in fig. 1, in one embodiment of the multi-underwater vehicle tracking control method, the method comprises the following steps:
s100, obtaining an expected path of a target underwater vehicle, and obtaining a current navigation error of the target underwater vehicle according to the expected path of the target underwater vehicle and current motion data of the target underwater vehicle.
The target underwater vehicle is an underwater vehicle needing path control, and the purpose of controlling the path of the target underwater vehicle is to enable the target underwater vehicle to run according to the expected path of the target underwater vehicle. The motion data of the target underwater vehicle comprises first motion data and second motion data, the first motion data are the position and the heading of the target underwater vehicle under an earth coordinate system, and the second motion data are the surging, the swaying and the heading speed of the target underwater vehicle under a body coordinate system. That is, in step S100, the first motion data and the second motion data of the target underwater vehicle are obtained.
The expected path of the target underwater vehicle is preset, and in a possible implementation manner, the expected path of the target underwater vehicle may be directly set, and in this embodiment, the acquiring the expected path of the target underwater vehicle includes:
s110, setting an expected path of a virtual pilot;
s120, obtaining an expected path of the target underwater vehicle according to the expected path of the virtual pilot and the expected position relation between the target underwater vehicle and the virtual pilot.
Specifically, in a scenario where multiple underwater vehicles cooperatively execute tasks, each underwater vehicle needs to maintain a certain formation, in order to conveniently realize the desired path setting of the multiple underwater vehicles, a virtual navigator is set, and the desired path setting of the multiple underwater vehicles is realized by setting a relative position relationship between each underwater vehicle and the virtual navigator, specifically, the desired path of the target underwater vehicle is represented by the following formula:
ηdi(θ)＝ηd(θ)+R[ψd(θ)]li；
wherein ,ηd(θ)＝[-cos(θ),sin(θ),θ]TTheta is the desired path of the virtual pilot, theta is the variation parameter of the desired path, R (psi) is the transformation matrix of the terrestrial coordinate system and the body coordinate system, psidFor the heading, l, of the virtual navigator in the global coordinate systemiAnd the relative position vector of the target underwater vehicle and the virtual pilot is obtained.
In particular, the amount of the solvent to be used,
Figure BDA0002640484220000061
then it is determined that,
Figure BDA0002640484220000062
the variation parameter θ of the expected path can be set according to the task actually performed by the underwater vehicle, and can be a fixed value or a variable related to time.
The obtaining of the navigation error of the target underwater vehicle according to the expected path of the target underwater vehicle and the current motion data of the target underwater vehicle includes:
and respectively acquiring the position error and the tracking error according to a first preset formula and a second preset formula.
The first preset formula is as follows: e.g. of the typei,1＝xi,1-ηdi(θ)；
The second preset formula is as follows:
Figure BDA0002640484220000071
wherein ,ei,1Is the position error, xi,1Is a matrix representation of the first motion data, ηdi(theta) is the desired path of the target underwater vehicle, theta is a variation parameter of the desired path, ei,2For the tracking error, xi,2For the matrix representation of the second motion data, gi,1＝R(ψi)，ψiR (psi) is a conversion matrix of an earth coordinate system and a body coordinate system, K is the heading of the target underwater vehicle under the earth coordinate systemi,1To control the gain parameter, vsA desired velocity of the target underwater vehicle in the form of a desired path of the target underwater vehicle.
Specifically, xi,1＝[x,y,ψi]T(x, y) is the position of the target underwater vehicle in the terrestrial coordinate system, psiiIs the heading, x, of the target underwater vehicle in the terrestrial coordinate systemi,2＝[u,v,r]TAnd u, v and r are respectively the surging, swaying and yawing speeds of the target underwater vehicle under the body coordinate system. R (psi)i) A transformation matrix for the earth's multi-coordinate system and the body coordinate system of the target underwater vehicle,
Figure BDA0002640484220000072
then it is determined that,
Figure BDA0002640484220000073
Ki,1is a preset constant, Ki,1For example, 3 or 5 may be used for > 0. v. ofsCan be formulated as:
Figure BDA0002640484220000074
Figure BDA0002640484220000075
is psidThe derivative form of (theta) is,
Figure BDA0002640484220000076
in the form of the derivative of theta,
Figure BDA0002640484220000077
referring to fig. 1 again, the method for tracking and controlling a multi-underwater vehicle provided by the embodiment further includes the steps of:
s200, acquiring a corresponding relation between the control input quantity of the target underwater vehicle and the navigation error and preset parameters according to a pre-established motion model of the target underwater vehicle.
The control input is a control force and a moment of a propulsion system of the target underwater vehicle.
In this embodiment, the pre-established motion model of the target underwater vehicle is:
Figure BDA0002640484220000081
Figure BDA0002640484220000082
wherein ,
Figure BDA0002640484220000083
denotes xi,1Derivative form of (1), xi,1For the matrix representation of the first motion data, gi,1＝R(ψi)，ψiR (psi) is a conversion matrix of the earth coordinate system and the body coordinate system for the heading of the target underwater vehicle under the earth coordinate system,
Figure BDA0002640484220000084
denotes xi,2Derivative form of (1), xi,2For a matrix representation of said second motion data, fi,2In order to be the preset parameter, the method comprises the following steps of,
Figure BDA00026404842200000811
Figure BDA0002640484220000085
Mifor an inertia matrix containing hydrodynamic additional masses, C (x)i,2) Coriolis centripetal force matrix for hydrodynamically adding masses, D (x)i,2) Is a matrix of damping coefficients, muiIs the control input.
In particular, the amount of the solvent to be used,
Figure BDA0002640484220000086
Figure BDA0002640484220000087
Figure BDA0002640484220000088
wherein m is the mass of the target underwater vehicle, IzIs the moment of inertia, x, of the target underwater vehiclegThe position of the center of gravity of the body coordinate system of the target underwater vehicle,
Figure BDA0002640484220000089
Figure BDA00026404842200000810
for additional masses, X, due to hydrodynamic forcesu、Yv、Yr、Nv、Nr、Xu|u|、Yv|v|、Yr|r|、Nv|v|、Nr|r|Is the hydrodynamic damping coefficient. In practical applications, the hydrodynamic damping coefficient has uncertainty, i.e. the predetermined parameter fi,2Has the advantages ofUncertainty, not obtaining fi,2And the path control of the target underwater vehicle is performed by the control input quantity muiTo obtain the control input quantity mu according to the motion model of the target underwater vehicleiAnd the navigation error of the target underwater vehicle and the preset parameter fi,2According to the corresponding relationship, the corresponding control input quantity mu can be obtainediTo achieve control of the target underwater vehicle's travel path to coincide with the desired path, however, fi,2The actual value of (d) cannot be obtained, but in this embodiment, the preset parameter is updated by the difference between the motion data corresponding to the preset parameter and the actual motion data, so that the preset parameter can approach the actual value, and thus the corresponding control input quantity μ can be obtainedi。
Specifically, the corresponding relationship between the control input quantity obtained through the motion model of the target underwater vehicle, the navigation error and the preset parameter is represented by the following formula:
Figure BDA0002640484220000091
wherein ,
Figure BDA0002640484220000092
to represent
Figure BDA0002640484220000093
In the form of the derivative of (a),
Figure BDA0002640484220000094
Mifor an inertia matrix containing hydrodynamic additional masses, gi,1＝R(ψi)，ψiFor the heading of the target underwater vehicle under an earth coordinate system, R (psi) is a conversion matrix of the earth coordinate system and a body coordinate system, ei,1For said position error, ei,2For the tracking error, K is specified as explained abovei,2For controlling gainNumber, Ki,2Is a preset constant, Ki,2For example, 3 or 5 may be used for > 0.
Specifically, the method for tracking and controlling the underwater vehicle provided by the embodiment further includes the steps of:
s300, updating the estimated value of the preset parameter according to the motion data corresponding to the estimated value of the preset parameter and the actual motion data.
In this embodiment, estimating the preset parameter, specifically, updating the estimated value of the preset parameter according to the motion data corresponding to the estimated value of the preset parameter and the actual motion data, and according to a difference between the motion data corresponding to the estimated value of the preset parameter and the actual motion data, so that the estimated value of the preset parameter approaches a true value, and updating the estimated value of the preset parameter includes:
s310, representing the preset parameters through the weight and the basis function of the neural network;
and S320, updating the weight of the neural network according to a preset self-adaptive updating law of the weight.
The neural network has the ability of learning and then continuously optimizing the weight of the neural network, so that the weight of the neural network continuously approaches to an optimal solution, in this embodiment, the preset parameter is expressed by the weight and the basis function of the neural network, specifically:
Figure BDA0002640484220000101
Figure BDA0002640484220000102
is the weight of the neural network, phiiIs a basis function of the neural network. The updating of the weights in the neural network is realized by an adaptive updating law of the weights, specifically, the adaptive updating law of the weights is as follows:
Figure BDA0002640484220000103
wherein
Figure BDA00026404842200001013
In order to estimate the error, the error is estimated,
Figure BDA0002640484220000104
Figure BDA0002640484220000105
for said second motion data, λ, corresponding to an estimated value of said predetermined parameteri、kσ、iIs a constant value ei,2In order for the tracking error to be said,
Figure BDA0002640484220000106
is composed of
Figure BDA0002640484220000107
Derivative form of (a). Lambda [ alpha ]i＞0，kσ＞0、i＞0，λi、kσ、iCan be set in advance according to experiments, e.g. lambdaiCan be 0.1, 0.2, etc., kσThe number of the grooves can be 40, 50 and the like,imay be 0.01, 0.05, etc. The initial value of the weight may be randomly initialized. The second motion data may be directly measured, that is, the second motion data may obtain a true value, and in the process of updating the weight, a difference between the second motion data corresponding to the preset parameter value-specific estimate and the true value of the second motion data is combined, so that the weight may approach the true value in the process of updating.
In the present embodiment, it is preferred that,
Figure BDA0002640484220000108
this can be obtained by the following model:
Figure BDA0002640484220000109
wherein ,
Figure BDA00026404842200001010
is composed of
Figure BDA00026404842200001011
In the form of the derivative of (a),
Figure BDA00026404842200001012
Mifor an inertia matrix comprising hydrodynamic additional masses, β is specified as previously explainediIs a constant number, betaiThe value of > 0 may be, for example, 0.1, 0.3, or the like.
The multi-underwater vehicle tracking control method further comprises the following steps:
s400, obtaining the control input quantity according to the updated preset parameters, the navigation error and the corresponding relation.
Through the steps S100-S300, the weight can be obtained and updated continuously, so that the estimated value of the weight is close to the optimal weight continuously, the preset parameter corresponding to the estimated value of the optimal weight is the estimated value close to the true value of the preset parameter, and the corresponding control input quantity can be obtained through the corresponding relation between the control input quantity and the navigation error as well as the preset parameter.
As is apparent from the above description, the correspondence relationship can be expressed by the following formula:
Figure BDA0002640484220000111
the meanings of the individual terms in the formulae can be referred to in the preceding description.
S500, adjusting the control force and the moment of the recommendation system of the target underwater vehicle according to the control input quantity, so that the target underwater vehicle navigates according to the expected path of the target underwater vehicle.
In summary, the present embodiment provides a multi-underwater vehicle tracking control method, in which an uncertainty influence factor in a running process of an underwater vehicle is used as a preset parameter, a corresponding relationship between the preset parameter and a control input quantity and a navigation error of the underwater vehicle is pre-established, and the preset parameter is updated according to a difference between motion data corresponding to the preset parameter and actual motion data, so as to estimate an influence of the uncertainty influence factor in the running process of the underwater vehicle, and implement reliable control on a running path of the underwater vehicle.
It should be understood that, although the steps in the flowcharts shown in the figures of the present specification are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Example two
Based on the above embodiments, the present invention further provides a terminal, as shown in fig. 2, where the terminal includes a processor 10 and a memory 20. Fig. 2 shows only some of the components of the terminal, but it is to be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
The memory 20 may in some embodiments be an internal storage unit of the terminal, such as a hard disk or a memory of the terminal. The memory 20 may also be an external storage device of the terminal in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal. Further, the memory 20 may also include both an internal storage unit and an external storage device of the terminal. The memory 20 is used for storing application software installed in the terminal and various data. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 20 has stored thereon a multi-underwater vehicle tracking control program 30, and the multi-underwater vehicle tracking control program 30 is executable by the processor 10 to implement the multi-underwater vehicle tracking control method of the present application.
The processor 10 may be, in some embodiments, a Central Processing Unit (CPU), microprocessor or other chip for executing program codes stored in the memory 20 or Processing data, such as executing the multi-underwater vehicle tracking control method.
In one embodiment, the following steps are implemented when the processor 10 executes the underwater vehicle tracking control program 30 in the memory 20:
acquiring an expected path of a target underwater vehicle, and acquiring a current navigation error of the target underwater vehicle according to the expected path of the target underwater vehicle and current motion data of the target underwater vehicle;
acquiring a corresponding relation between a control input quantity of the target underwater vehicle, the navigation error and a preset parameter according to a pre-established motion model of the target underwater vehicle, wherein the control input quantity is a control force and a moment of a propulsion system of the target underwater vehicle;
updating the estimated value of the preset parameter according to the motion data corresponding to the estimated value of the preset parameter and the actual motion data;
acquiring the control input quantity according to the updated preset parameter, the navigation error and the corresponding relation;
adjusting the control force and moment of a propulsion system of the target underwater vehicle according to the control input quantity, so that the target underwater vehicle navigates according to the expected path of the target underwater vehicle;
the motion data of the target underwater vehicle comprises first motion data and second motion data, the first motion data are the position and heading of the target underwater vehicle under an earth coordinate system, and the second motion data are surging, swaying and heading speed of the target underwater vehicle under a body coordinate system.
Wherein said obtaining a desired path of the target underwater vehicle comprises:
setting an expected path of a virtual pilot;
and acquiring the expected path of the target underwater vehicle according to the expected path of the virtual pilot and the expected position relation between the target underwater vehicle and the virtual pilot.
Wherein the desired path of the target underwater vehicle is represented by the following equation:
ηdi(θ)＝ηd(θ)+R[ψd(θ)]li；
wherein ,ηd(θ)＝[-cos(θ),sin(θ),θ]TTheta is the desired path of the virtual pilot, theta is the variation parameter of the desired path, R (psi) is the transformation matrix of the terrestrial coordinate system and the body coordinate system, psidFor the heading, l, of the virtual navigator in the global coordinate systemiAnd the relative position vector of the target underwater vehicle and the virtual pilot is obtained.
Wherein the obtaining of the navigation error of the target underwater vehicle according to the desired path of the target underwater vehicle and the current motion data of the target underwater vehicle comprises:
respectively acquiring the position error and the tracking error according to a first preset formula and a second preset formula;
the first preset formula is as follows: e.g. of the typei,1＝xi,1-ηdi(θ)；
The second preset formula is as follows:
Figure BDA0002640484220000141
wherein ,ei,1Is the position error, xi,1Is a matrix representation of the first motion data, ηdi(theta) is the desired path of the target underwater vehicle, theta is a variation parameter of the desired path, ei,2For the tracking error, xi,2For the matrix representation of the second motion data, gi,1＝R(ψi)，ψiR (psi) is a conversion matrix of an earth coordinate system and a body coordinate system, K is the heading of the target underwater vehicle under the earth coordinate systemi,1To control the gain parameter, vsA desired velocity of the target underwater vehicle in the form of a desired path of the target underwater vehicle.
Wherein the motion model of the target underwater vehicle is:
Figure BDA0002640484220000142
Figure BDA0002640484220000143
wherein ,
Figure BDA0002640484220000144
denotes xi,1Derivative form of (1), xi,1For the matrix representation of the first motion data, gi,1＝R(ψi)，ψiR (psi) is a conversion matrix of the earth coordinate system and the body coordinate system for the heading of the target underwater vehicle under the earth coordinate system,
Figure BDA0002640484220000151
denotes xi,2Derivative form of (1), xi,2For a matrix representation of said second motion data, fi,2In order to be the preset parameter, the method comprises the following steps of,
Figure BDA00026404842200001519
Figure BDA0002640484220000152
Mifor an inertia matrix containing hydrodynamic additional masses, C (x)i,2) Coriolis centripetal force matrix for hydrodynamically adding masses, D (x)i,2) Is a matrix of damping coefficients, muiIs the control input.
Wherein the obtaining the control input according to the updated preset parameter, the navigation error and the corresponding relationship comprises:
representing the preset parameters through weights and basis functions of a neural network, wherein the preset parameters
Figure BDA0002640484220000153
Figure BDA0002640484220000154
Is the weight of the neural network, phiiIs a basis function of the neural network;
updating the weight of the neural network according to a preset self-adaptive updating law of the weight;
the adaptive update law of the weights is as follows:
Figure BDA0002640484220000155
wherein ,
Figure BDA00026404842200001518
in order to estimate the error, the error is estimated,
Figure BDA0002640484220000156
Figure BDA0002640484220000157
for said second motion data, λ, corresponding to an estimated value of said predetermined parameteri、kσ、iIs a constant value ei,2In order for the tracking error to be said,
Figure BDA0002640484220000158
is composed of
Figure BDA0002640484220000159
Derivative form of (a).
Wherein the second motion data corresponding to the estimated value of the preset parameter is obtained through the following model:
Figure BDA00026404842200001510
wherein ,
Figure BDA00026404842200001511
is composed of
Figure BDA00026404842200001512
In the form of the derivative of (a),
Figure BDA00026404842200001513
Mifor an inertia matrix containing hydrodynamic additional masses, betaiIs a constant.
The corresponding relation between the control input quantity of the target underwater vehicle, the navigation error and the preset parameters is represented by the following formula:
Figure BDA00026404842200001514
wherein ,
Figure BDA00026404842200001515
to represent
Figure BDA00026404842200001516
In the form of the derivative of (a),
Figure BDA00026404842200001517
Mifor an inertia matrix containing hydrodynamic additional masses, Ki,2To control the gain parameter.
EXAMPLE III
The present invention also provides a storage medium having one or more programs stored thereon that are executable by one or more processors to implement the steps of the multi-underwater vehicle tracking control method as described above.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A method for multi-underwater vehicle tracking control, the method comprising:
acquiring an expected path of a target underwater vehicle, and acquiring a current navigation error of the target underwater vehicle according to the expected path of the target underwater vehicle and current motion data of the target underwater vehicle;
acquiring a corresponding relation between a control input quantity of the target underwater vehicle, the navigation error and a preset parameter according to a pre-established motion model of the target underwater vehicle, wherein the control input quantity is a control force and a moment of a propulsion system of the target underwater vehicle;
updating the estimated value of the preset parameter according to the motion data corresponding to the estimated value of the preset parameter and the actual motion data;
acquiring the control input quantity according to the updated preset parameter, the navigation error and the corresponding relation;
adjusting the control force and moment of a propulsion system of the target underwater vehicle according to the control input quantity, so that the target underwater vehicle navigates according to the expected path of the target underwater vehicle;
the motion data of the target underwater vehicle comprises first motion data and second motion data, the first motion data are the position and heading of the target underwater vehicle under an earth coordinate system, and the second motion data are surging, swaying and heading speed of the target underwater vehicle under a body coordinate system.
2. The method for multi-underwater vehicle tracking control of claim 1, wherein said obtaining a desired path of the target underwater vehicle comprises:
setting an expected path of a virtual pilot;
and acquiring the expected path of the target underwater vehicle according to the expected path of the virtual pilot and the expected position relation between the target underwater vehicle and the virtual pilot.
3. The method for multi-underwater vehicle tracking control of claim 2 wherein the desired path of the target underwater vehicle is represented by the formula:
ηdi(θ)＝ηd(θ)+R[ψd(θ)]li；
wherein ,ηd(θ)＝[-cos(θ),sin(θ),θ]TTheta is the desired path of the virtual pilot, theta is the variation parameter of the desired path, R (psi) is the transformation matrix of the terrestrial coordinate system and the body coordinate system, psidFor the heading, l, of the virtual navigator in the global coordinate systemiAnd the relative position vector of the target underwater vehicle and the virtual pilot is obtained.
4. The multi-underwater vehicle tracking control method according to claim 1, wherein the navigation error includes a position error and a tracking error, and the acquiring the navigation error of the target underwater vehicle according to the desired path of the target underwater vehicle and the current motion data of the target underwater vehicle includes:
respectively acquiring the position error and the tracking error according to a first preset formula and a second preset formula;
the first preset formula is as follows: e.g. of the typei,1＝xi,1-ηdi(θ)；
The second preset formula is as follows:
Figure FDA0002640484210000021
wherein ,ei,1Is the position error, xi,1Is a matrix representation of the first motion data, ηdi(theta) is the desired path of the target underwater vehicle, theta is a variation parameter of the desired path, ei,2For the tracking error, xi,2For the matrix representation of the second motion data, gi,1＝R(ψi)，ψiR (psi) is a conversion matrix of an earth coordinate system and a body coordinate system, K is the heading of the target underwater vehicle under the earth coordinate systemi,1To control the gain parameter, vsA desired velocity of the target underwater vehicle in the form of a desired path of the target underwater vehicle.
5. The multi-underwater vehicle tracking control method according to claim 1, wherein the motion model of the target underwater vehicle is:
Figure FDA0002640484210000022
Figure FDA0002640484210000023
wherein ,
Figure FDA0002640484210000024
denotes xi,1Derivative form of (1), xi,1For the matrix representation of the first motion data, gi,1＝R(ψi)，ψiR (psi) is a conversion matrix of the earth coordinate system and the body coordinate system for the heading of the target underwater vehicle under the earth coordinate system,
Figure FDA0002640484210000031
denotes xi,2Derivative form of (1), xi,2For a matrix representation of said second motion data, fi,2In order to be the preset parameter, the method comprises the following steps of,
Figure FDA0002640484210000032
Mifor an inertia matrix containing hydrodynamic additional masses, C (x)i,2) Coriolis centripetal force matrix for hydrodynamically adding masses, D (x)i,2) Is a matrix of damping coefficients, muiIs the control input.
6. The method for multi-underwater vehicle tracking control according to claim 4, wherein the updating the estimated values of the preset parameters according to the motion data corresponding to the estimated values of the preset parameters and the actual motion data includes:
representing the preset parameters through weights and basis functions of a neural network, wherein the preset parameters
Figure FDA0002640484210000033
Figure FDA0002640484210000034
Is the weight of the neural network, phiiIs a basis function of the neural network;
updating the weight of the neural network according to a preset self-adaptive updating law of the weight;
the adaptive update law of the weights is as follows:
Figure FDA0002640484210000035
wherein ,
Figure FDA0002640484210000036
in order to estimate the error, the error is estimated,
Figure FDA0002640484210000037
Figure FDA0002640484210000038
for said second motion data, λ, corresponding to an estimated value of said predetermined parameteri、kσ、iIs a constant value ei,2In order for the tracking error to be said,
Figure FDA0002640484210000039
is composed of
Figure FDA00026404842100000310
Derivative form of (a).
7. The method for multi-underwater vehicle tracking control according to claim 6, wherein the second motion data corresponding to the estimated values of the preset parameters is obtained by the following model:
Figure FDA00026404842100000311
wherein ,
Figure FDA00026404842100000312
is composed of
Figure FDA00026404842100000313
In the form of the derivative of (a),
Figure FDA00026404842100000314
Mifor an inertia matrix containing hydrodynamic additional masses, betaiIs a constant.
8. The multi-underwater vehicle tracking control method according to claim 6, wherein the correspondence between the control input quantity of the target underwater vehicle, the navigation error and the preset parameter is expressed by the following formula:
Figure FDA00026404842100000315
wherein ,
Figure FDA00026404842100000316
to represent
Figure FDA00026404842100000317
In the form of the derivative of (a),
Figure FDA00026404842100000318
Mifor an inertia matrix containing hydrodynamic additional masses, Ki,2To control the gain parameter.
9. A terminal, characterized in that the terminal comprises: a processor, a storage medium communicatively coupled to the processor, the storage medium adapted to store a plurality of instructions, the processor adapted to invoke the instructions in the storage medium to perform the steps of implementing the method for multi-underwater vehicle tracking control of any of the above claims 1-8.
10. A storage medium storing one or more programs, the one or more programs executable by one or more processors to perform the steps of the method for multi-underwater vehicle tracking control according to any of claims 1-8.
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